Industrial machine and relocating mechanism thereof

ABSTRACT

Provided is an industrial machine including a base including a through hole vertically passing through the base and installed on an installation surface F using a fastener through the through hole and a friction reducing member configured to protrude from a bottom surface of the base to reduce friction between the base and the installation surface. The friction reducing member is lowered below the bottom surface of the base during relocation and raised to the same level as or above the bottom surface of the base during installation by a vertical force applied to the base using the through hole.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of Japanese Patent Application No.2017-188166, the content of which is incorporated herein by reference.

TECHNICAL FIELD

The present invention relates to industrial machines and relocatingmechanisms thereof.

BACKGROUND ART

Robots including casters under the base and outriggers for raising andlowering the base are well known (for example, see PTL 1).

When the robot described in PTL 1 is installed, the robot is supportedby outriggers lowered to lift the base and casters. On the other hand,when the robot is relocated, the outriggers are raised, and a horizontalforce is applied to the robot to roll the casters to move the robot inthe horizontal direction while the entire weight of the robot issupported by the casters.

CITATION LIST Patent Literature

{PTL 1} Japanese Unexamined Utility Model Application, Publication No.Sho 62-20772

SUMMARY OF INVENTION

An aspect of the present invention provides an industrial machineincluding a base including a through hole vertically passing through thebase and installed on an installation surface using a fastener throughthe through hole and a friction reducing member configured to protrudefrom a bottom surface of the base to reduce friction between the baseand the installation surface. The friction reducing member is loweredbelow the bottom surface of the base during relocation and raised to thesame level as or above the bottom surface of the base duringinstallation by a vertical force applied to the base using the throughhole.

Moreover, another aspect of the present invention provides a relocatingmechanism of an industrial machine including a bracket attachable to athrough hole using a second fastener while a first fastener is removedfrom the through hole, the industrial machine including a base includingthe through hole vertically passing through the base and the base beinginstalled onto an installation surface using the first fastener throughthe through hole, and a friction reducing member attached to thebracket. The friction reducing member is lowered below a bottom surfaceof the base by a vertical force applied between the base and the bracketby the second fastener using the through hole during relocation of theindustrial machine.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a perspective view of an industrial machine according to anembodiment of the present invention.

FIG. 2 is a side view illustrating the posture of the industrial machineillustrated in FIG. 1 during relocation.

FIG. 3 is a bottom view of the industrial machine illustrated in FIG. 1.

FIG. 4 is a partial longitudinal sectional view illustrating the base ofthe industrial machine illustrated in FIG. 1 in firm contact with thefloor surface.

FIG. 5 is a partial longitudinal sectional view illustrating a statewhere an anchor bolt for securing the base of the industrial machineillustrated in FIG. 1 is loosened.

FIG. 6 is a side view illustrating the position of the center of gravityof the industrial machine illustrated in FIG. 1 during relocation.

FIG. 7 is a partial longitudinal sectional view illustrating a state ofa relocating mechanism of the industrial machine according to anembodiment of the present invention while the industrial machine isbeing relocated.

FIG. 8 is a partial longitudinal sectional view illustrating a statewhere the base is in firm contact with the floor surface while bolts inthe relocating mechanism illustrated in FIG. 7 are loosened.

FIG. 9 is a partial longitudinal sectional view illustrating a statewhere the base of the industrial machine is secured onto the floorsurface by removing the relocating mechanism illustrated in FIG. 7.

DESCRIPTION OF EMBODIMENTS

An industrial machine 1 according to an embodiment of the presentinvention will now be described with reference to the drawings.

As illustrated in FIG. 1, the industrial machine 1 according to thisembodiment is a six-axis vertical articulated robot (hereinafterreferred to as “robot 1”) including a base 2 installed on a floorsurface (installation surface) F, a swivel body 3 rotatably supportedwith respect to the base 2 about a vertical first axis (vertical axis)A, a first arm 4 swingably supported with respect to the swivel body 3on a horizontal second axis (first horizontal axis) B, a second arm 5swingably supported at the tip of the first arm 4 on a third axis(second horizontal axis) C parallel to the second axis B, and athree-axis wrist 6 disposed at the tip of the second arm 5.

The base 2 includes a flat supporting leg member 7 that is substantiallysquare when viewed in plan and expands along the floor surface F, and acylindrical columnar member 8 extending vertically upward from thecenter of the supporting leg member 7. The swivel body 3 is rotatablysupported at the top end of the columnar member 8.

As illustrated in FIG. 1, the first arm 4 is offset from the columnarmember 8 in a radial direction to be rotatable in a plane remote fromand parallel to the longitudinal axis of the columnar member 8. Thefirst arm 4 has a length smaller than the length of the columnar member8 of the base 2, and can rotate 360°. Moreover, the thickness (crosssection) of the columnar member 8 is substantially identical to thethickness (cross section) of the first arm 4.

As illustrated in FIG. 1, the second arm 5 is offset by the same amountin a radial direction opposite to the radial direction in which thefirst arm 4 is offset from the columnar member 8 to be rotatable in aplane including the longitudinal axis of the columnar member 8. Thus,the central axis of the second arm 5 and the central axis of thecolumnar member 8 are disposed in the same plane.

The supporting leg member 7 of the base 2 includes a frustum-shapedportion 7 a extending slightly upward in the center and a tabular rimportion 7 b horizontally expanding around the circumference of thefrustum-shaped portion 7 a. The rim portion 7 b is substantially squarewhen viewed in plan, and includes through holes 9 passing through therim portion 7 b in the thickness direction at the four corners. Thethrough holes 9 have an inner diameter allowing anchor bolts (fastener,first fastener) 10 to pass through, and thus the robot 1 can be securedonto the floor surface F using the anchor bolts 10.

Each of the through holes 9 has a counterbore 9 a formed in the upperpart to accommodate the head of an anchor bolt 10. In an exampleillustrated in FIG. 4, the counterbore 9 a has a depth that canaccommodate the entire head of the anchor bolt 10. However, thecounterbore 9 a may have a depth that can partially accommodate theanchor bolt 10.

Moreover, the frustum-shaped portion 7 a of the base 2 is hollow in thelower part, and accommodates a plurality of (for example, four) wheels(friction reducing member; see FIG. 3) 11 protrusible from the bottomsurface of the supporting leg member 7 inside of the frustum-shapedportion 7 a. As illustrated in FIGS. 4 and 5, movable members 11 b aresupported by supporting shafts 11 a secured inside the frustum-shapedportion 7 a to be vertically movable, and each of the wheels 11 issupported by the corresponding movable member 11 b to be rotatable abouta horizontal axis. A spring (elastic member) 11 c is disposed betweeneach set of the supporting shafts 11 a and the movable members 11 b toapply elastic restoring force to vertically separate the supportingshafts 11 a and the movable members 11 b.

While the springs 11 c are in a first state illustrated in FIG. 5 wherethe springs 11 c are stretched, the springs 11 c have rigidity capableof generating the elastic restoring force with which the tare of therobot 1 can be supported when all the wheels 11 are used. Thus, in thefirst state illustrated in FIG. 5, the robot 1 can stand on its ownusing only the wheels 11.

On the other hand, as illustrated in FIG. 4, when the base 2 isvertically pushed down by tightening the anchor bolts 10 into screwholes 21 in the floor surface F, the springs 11 c are compressed by thevertical force, and the wheels 11 are accommodated inside thefrustum-shaped portion 7 a. In this manner, the springs 11 c enter asecond state where the wheels 11 are raised to the same level as orabove the bottom surface of the base 2. Thus, the bottom surface of thebase 2 is brought into firm contact with the floor surface F, and thebase 2 is immovably secured onto the floor surface F by the frictionbetween the bottom surface of the base 2 and the floor surface F.

Operations of the robot 1 according to this embodiment configured asabove will now be described.

To use the robot 1 according to this embodiment, the anchor bolts 10 arefitted into the through holes 9 at the four corners of the rim portion 7b of the supporting leg member 7, and the anchor bolts 10 are tightenedinto the screw holes 21 formed in the floor surface F.

While the anchor bolts 10 are not tightened, the robot 1 is supportedonly by the wheels 11 as illustrated in FIG. 5, and the rim portion 7 bof the supporting leg member 7 of the base 2 is floating from the floorsurface F. Tightening the anchor bolts 10 from this state causes thebase 2 to be lowered against the elastic restoring force of the springs11 c by the axial force generated in the anchor bolts 10, and the wheels11 are completely accommodated inside the frustum-shaped portion 7 a ofthe supporting leg member 7 as illustrated in FIG. 4.

Thus, the bottom surface of the base 2 is brought into firm contact withthe floor surface F, and the robot 1 is immovably secured onto the floorsurface F by the friction between the bottom surface of the base 2 andthe floor surface F.

That is, securing the base 2 onto the floor surface F using the anchorbolts 10 allows the robot 1 to be maintained in a stable state when thefirst arm 4 and the second arm 5 are also extended in the horizontaldirection. Moreover, the robot 1 can be stably operated also when aheavy load is supported at the tip of the wrist 6 or when a largeinertial force is applied to the base 2 during high speed operation.

Moreover, the robot 1 according to this embodiment can operate as afloor-installable six-axis vertical articulated robot due to the base 2configured to be secured onto the floor surface F.

In this case, the robot 1 includes the base 2 including the flatsupporting leg member 7 and the cylindrical columnar member 8 extendingvertically upward from the center of the leg member 7, and the thicknessof the columnar member 8 is equal to the thickness of the first arm 4.Thus, the robot 1 does not occupy a large space, and a large workingspace is advantageously left for operators.

Moreover, the swivel body 3 is disposed at the top end of the slendercolumnar member 8, and the columnar member 8 is made longer than thefirst arm 4. Thus, in addition to the movements performed while thefirst arm 4 is located above the second axis B as illustrated in FIG. 1,movements similar to the movements performed by a robot hanging from theceiling can also be performed while the first arm 4 is located below thesecond axis B.

While the robot 1 is secured onto the floor surface F, the heads of theanchor bolts 10 used for securing are completely accommodated inside thecounterbores 9 a formed in the upper parts of the through holes 9 in thebase 2. Thus, the top surface of the rim portion 7 b is flat without anyprojections. In this manner, the robot 1 does not include any obstaclesoccupying a large space beside the base 2 unlike the outriggers in theprior art, and is allowed to have a large motion range. Moreover, theoperators are advantageously prevented from stumbling on the heads ofthe anchor bolts 10.

To relocate the robot 1, the first arm 4 and the second arm 5 are foldedsuch that the second arm 5 is disposed parallel to the columnar member 8as illustrated in FIG. 2. This causes the position of the center ofgravity of the entire system to be lowered, and thus causes the robot 1to be less prone to falling. In this state, as illustrated in FIG. 6,the position of the center of gravity of the entire system is locatedinside a conic space (hatched area in FIG. 6) including the supportingleg member 7 as the bottom surface and the intersection of a verticalline passing through the center of the supporting leg member 7 and aplane including the second axis B as a vertex. Thus, the center ofgravity would be kept inside the supporting leg member 7 if the robot 1is inclined to some extent, allowing the robot 1 to be less prone tofalling.

Loosening the anchor bolts 10 securing the base 2 onto the floor surfaceF in this state causes the axial force of the anchor bolts 10 to bereduced, and the wheels 11 are pushed down by the elastic restoringforce of the springs 11 c supporting the wheels 11. As a result, thebottom surface of the base 2 is lifted from the floor surface F, and theentire robot 1 is supported only by the wheels 11.

In this manner, the wheels 11 partially protruding from the bottomsurface of the base 2 downward reduce the friction between the floorsurface F and the rim portion 7 b of the base 2. Thus, a horizontalforce applied by an operator to the robot 1 in this state causes thewheels 11 to rotate about the horizontal axes to roll on the floorsurface F. In this manner, the robot 1 is readily moved along the floorsurface F.

Moreover, the robot 1 according to this embodiment raises and lowers thebase 2 using the anchor bolts 10 for securing the base 2 onto the floorsurface F, and thus any specific mechanisms such as handles or electricmechanisms are not required to cause the wheels 11 to protrude from thebottom surface of the base 2. This advantageously prevents the robot 1from increasing in size, and also enables the robot 1 to be configuredat low cost.

In this embodiment, the wheels 11 are illustrated as an example of afriction reducing member. However, the friction reducing member is notlimited to this, and may be a roller or a sphere rotatable about ahorizontal axis or a sheet or a block composed of a material with asmall sliding resistance. The material with a small sliding resistanceincludes, for example, a material composed of polyamide and molybdenumdioxide added thereto, melamine resin, and tetrafluoroethylene resin.

The springs 11 c may be any springs such as coiled springs, coned discsprings, and torsion coil springs. Moreover, other elastic member suchas rubber may be used instead of the springs 11 c.

The four wheels 11 are illustrated as an example. However, the number isnot limited to this, and any number of wheels may be used. More wheelsincrease the cost. However, the rigidity of the springs 11 c may belower, resulting in easier designing. Moreover, the number of anchorbolts 10 is not limited to four, and may be any other number.

In this embodiment, a six-axis vertical articulated robot including theswivel body 3 disposed at the upper part of the base 2 to be rotatableabout the first axis A, the first arm 4 disposed on the swivel body 3 tobe swingable on the second axis B, the second arm 5 disposed at the tipof the first arm 4 to be swingable on the third axis C, and thethree-axis wrist 6 disposed at the tip of the second arm 5 isillustrated as the robot 1. However, robots with any other axisconfigurations may be used instead of this.

Moreover, in this embodiment, the robot 1 including the base 2 includingthe supporting leg member 7 and the columnar member 8 is illustrated asan example. However, the robot 1 is not limited to this, and robots withany other configurations may be used. Furthermore, the robot 1 isillustrated as an example of the industrial machine 1. However, thepresent invention is not limited to this, and may be applicable to anyindustrial machine 1 such as machine tools.

Moreover, the floor surface F is illustrated as an example of aninstallation surface. However, the present invention is applicable to acase where the robot 1 is installed on an installation surface otherthan the floor surface F.

Next, a relocating mechanism 12 of the industrial machine 1 according toan embodiment of the present invention will be described with referenceto the drawings.

The relocating mechanism 12 according to this embodiment is a relocatingmechanism of the robot 1, and is provided for a base 2 of the robot 1similar to that illustrated in FIG. 1 as illustrated in FIGS. 7 and 8.The relocating mechanism 12 includes a bracket 13 detachable from thetabular rim portion 7 b brought into firm contact with the floor surfaceF during installation and a friction reducing member supported by thelower part of the bracket 13.

In this embodiment, as illustrated in FIG. 9, two screw holes (throughholes) 16 into which anchor bolts (first fastener) 15 are fitted areformed in each of the four corners of the rim portion 7 b, which issubstantially square when viewed in plan, of the robot 1.

Each of the screw holes 16 has an inner diameter larger than the outerdiameter of the anchor bolts 15, and an internal thread is cut totighten screw bolts 18 (described below). Each of the through holes 16has a counterbore 16 a formed in the upper part to accommodate the headof an anchor bolt 15.

As illustrated in FIGS. 7 and 8, the bracket 13 includes a tabularportion 17 disposed along the top surface of the rim portion 7 b. Thetabular portion 17 includes two through holes 19 formed at the samepitch as the pitch of the two through holes 16 formed at each corner ofthe rim portion 7 b. The inner diameter of the through holes 19 islarger than the outer diameter of the bolts (second fastener) 18tightened into the screw holes 16 of the rim portion 7 b, and is smallerthan the outer diameter of the heads of the bolts 18. Tightening thebolts 18 fitted in the through holes 19 into the screw holes 16 of therim portion 7 b enables the bracket 13 to be secured to the rim portion7 b.

The friction reducing member is a wheel 14 supported to be rotatableabout a horizontal axis while the bracket 13 is secured to the topsurface of the rim portion 7 b. The wheel 14 partially protrudesdownward from the bottom surface of the base 2 in the state illustratedin FIG. 7 where the bracket 13 is firmly secured to the top surface ofthe rim portion 7 b. Thus, tightening the bolts 18 into the screw holes16 of the rim portion 7 b causes the wheel 14 pushed down by the axialforce applied to the bolts 18 to push the floor surface F, and as aresult, the base 2 is lifted from the floor surface F.

Operations of the relocating mechanism 12 of the robot 1 according tothis embodiment configured as above will now be described.

To relocate the robot 1 using the relocating mechanism 12 according tothis embodiment, the anchor bolts 15 securing the base 2 onto the floorsurface F as illustrated in FIG. 9 are first removed to allow the robot1 to be relocated.

Next, as illustrated in FIG. 8, the tabular portion 17 of the bracket 13is disposed on the top surface of the rim portion 7 b such that the twothrough holes 19 align with the two screw holes 16 of the rim portion 7b, and the bolts 18 fitted in the through holes 19 are tightened intothe screw holes 16 of the rim portion 7 b.

Then, as illustrated in FIG. 7, when the bolts 18 are securelytightened, the wheel 14 disposed at the lower part of the bracket 13pushes the floor surface F, and the bottom surface of the base 2 islifted from the floor surface F. This reduces the friction between thebase 2 and the floor surface F. Thus, a horizontal force applied by anoperator to the robot 1 causes the wheel 14 to rotate about thehorizontal axis to roll on the floor surface F. In this manner, therobot 1 is readily moved along the floor surface F.

To install the robot 1 at a predetermined position, the above-describedprocedure is performed in reverse after the robot 1 is moved to thepredetermined position. From the state illustrated in FIG. 7, the bolts18 are loosened to bring the bottom surface of the base 2 into firmcontact with the floor surface F as illustrated in FIG. 8. Then, asillustrated in FIG. 9, the bracket 13 is removed from the rim portion 7b, and the anchor bolts 15 fitted in the screw holes 16 of the rimportion 7 b are tightened into the screw holes 21 in the floor surfaceF. In this manner, the robot 1 is firmly secured onto the floor surfaceF. In this case, the outer diameter of the external thread portion ofthe anchor bolts 15 needs to be smaller than the outer diameter of theexternal thread portion of the bolts 18.

In accordance with the relocating mechanism 12 according to thisembodiment, the anchor bolts 15 for installation do not protrude fromthe top surface of the rim portion 7 b while the robot 1 is installed onthe floor surface F as illustrated in FIG. 9. Thus, the relocatingmechanism 12 does not occupy the space around the robot 1, and does notobstruct operations of the robot 1 or operators. Moreover, the bottomsurface of the base 2 can be readily lifted from the floor surface Fusing the screw holes 21 for securing the robot 1 onto the floor surfaceF with the anchor bolts 15, enabling easy relocation by the rotation ofthe wheel 14.

In this embodiment, the bracket 13 is secured using the two bolts 18fitted into the two screw holes 16 formed in the rim portion 7 b. Thus,the bracket 13 does not rotate about a vertical axis, and is stableduring relocation. The numbers of screw holes 16 and bolts 18 may bethree or more. In a case where the bracket 13 may rotate about avertical axis to some extent, the numbers of screw holes 16 and bolts 18may be one.

Moreover, in this embodiment, a roller or a sphere, or a sheet or ablock with a small sliding resistance against the floor surface may beused as the friction reducing member instead of the wheel 14.

From the above-described embodiment, the following invention is derived.

An aspect of the present invention provides an industrial machineincluding a base including a through hole vertically passing through thebase and installed on an installation surface using a fastener throughthe through hole and a friction reducing member configured to protrudefrom a bottom surface of the base to reduce friction between the baseand the installation surface. The friction reducing member is loweredbelow the bottom surface of the base during relocation and raised to thesame level as or above the bottom surface of the base duringinstallation by a vertical force applied to the base using the throughhole.

According to this aspect, when the industrial machine is installed onthe installation surface such as a floor surface, the friction reducingmember is raised to the same level as or above the bottom surface of thebase by the vertical force applied to the base using the through holeformed in the base. The fastener is then tightened through the throughhole formed in the base to bring the bottom surface of the base intofirm contact with the installation surface. Thus, the industrial machinecan be securely and immovably supported on the installation surface bythe friction. Moreover, the fastener does not occupy spaces around theindustrial machine while the industrial machine is installed, and doesnot obstruct operations of the industrial machine or operators.

On the other hand, when the industrial machine is relocated, thefastener is removed to unfasten the base from the installation surface,and a vertical force is applied to the base using the through hole. Thiscauses the friction reducing member to be lowered below the bottomsurface of the base. Thus, the base is lifted from the installationsurface, and the industrial machine can be readily moved along theinstallation surface while the friction reducing member reducesfriction.

In the above-described aspect, the fastener may be a bolt having anouter diameter smaller than an inner diameter of the through hole.

This enables the bolt fitted in the through hole to be tightened into ascrew hole formed in the installation surface, and allows the bottomsurface of the base to be firmly yet easily secured onto theinstallation surface.

Moreover, in the above-described aspect, the through hole may include,in an upper part thereof, a counterbore configured to at least partiallyaccommodate a head of the bolt.

When the bolt is tightened into the screw hole formed in theinstallation surface, the head of the bolt is disposed at the upper partof the through hole. However, with the above-described configuration,the head of the bolt is at least partially accommodated inside thecounterbore, and the protrusion of the bolt from the top surface of thebase is minimized. In this manner, the fastener occupies a minimum spacearound the industrial machine while the industrial machine is installed.

Moreover, in the above-described aspect, the industrial machine mayfurther include an elastic member generating elastic restoring force tolift the base from the installation surface by pushing the frictionreducing member against the installation surface. During installation,the elastic member may be elastically deformed by the vertical forceapplied to the base by the fastener to lower the base and to bring thebottom surface of the base into firm contact with the installationsurface, and during relocation, the vertical force applied to the baseby the fastener may be reduced, and the elastic member may lift the basefrom the installation surface using the elastic restoring force.

In this manner, during relocation of the industrial machine, the axialforce of the bolt elastically deforming the elastic member is reduced byloosening the bolt tightened into the screw hole in the installationsurface through the through hole to lower the friction reducing memberby the elastic restoring force. Thus, the base is lifted from theinstallation surface, and the industrial machine is supported by thefriction reducing member. Consequently, the industrial machine can bereadily moved along the installation surface with small friction.

On the other hand, to install the industrial machine onto theinstallation surface, the bolt fitted in the through hole formed in thebase is tightened into the screw hole formed in the installationsurface. This causes the vertical axial force applied to the base by thebolt to increase, and the elastic member is elastically deformed tolower the base. This causes the bottom surface of the base to be broughtinto firm contact with the installation surface, and thus the industrialmachine to be reliably secured onto the installation surface. The boltfor securing the industrial machine onto the installation surface canswitch the state of the friction reducing member between the stateduring relocation where the friction reducing member is lower than thebottom surface of the base and the state during installation where thefriction reducing member is at the same level as or above the bottomsurface of the base.

Moreover, another aspect of the present invention provides a relocatingmechanism of an industrial machine including a bracket attachable to athrough hole using a second fastener while a first fastener is removedfrom the through hole, the industrial machine including a base includingthe through hole vertically passing through the base and the base beinginstalled onto an installation surface using the first fastener throughthe through hole, and a friction reducing member attached to thebracket. The friction reducing member is lowered below a bottom surfaceof the base by a vertical force applied between the base and the bracketby the second fastener using the through hole during relocation of theindustrial machine.

With this, when the industrial machine is installed on the installationsurface, the first fastener is tightened through the through hole formedin the base. On the other hand, when the industrial machine isrelocated, the first fastener is removed, and the second fastener istightened into the through hole to attach the bracket. The verticalforce applied by the second fastener between the base and the bracket isincreased to lower the bracket and thus to lower the friction reducingmember provided for the bracket below the bottom surface of the base.Thus, the base is lifted from the installation surface, and theindustrial machine can be readily relocated along the installationsurface while the friction reducing member reduces friction.

In the above-described aspect, the second fastener may be a bolt, and aninternal thread may be cut in the through hole to enable the secondfastener to be tightened into the through hole.

REFERENCE SIGNS LIST

-   1 Robot (industrial machine)-   2 Base-   9 Through hole-   9 a, 16 a Counterbore-   10, 15 Anchor bolt (fastener, first fastener)-   11, 14 Wheel (friction reducing member)-   11 c Spring (elastic member)-   12 Relocating mechanism-   13 Bracket-   16 Screw hole (through hole)-   18 Bolt (second fastener)-   F Floor surface (installation surface)

1. An industrial machine comprising: a base including a through holevertically passing through the base and installed on an installationsurface using a fastener through the through hole; and a frictionreducing member configured to protrude from a bottom surface of the baseto reduce friction between the base and the installation surface,wherein the friction reducing member is lowered below the bottom surfaceof the base during relocation and raised to the same level as or abovethe bottom surface of the base during installation by a vertical forceapplied to the base using the through hole.
 2. The industrial machineaccording to claim 1, wherein the fastener is a bolt having an outerdiameter smaller than an inner diameter of the through hole.
 3. Theindustrial machine according to claim 2, wherein the through holeincludes, in an upper part thereof, a counterbore configured to at leastpartially accommodate a head of the bolt.
 4. The industrial machineaccording to claim 1, further comprising: an elastic member generatingelastic restoring force to lift the base from the installation surfaceby pushing the friction reducing member against the installationsurface, wherein during installation, the elastic member is elasticallydeformed by the vertical force applied to the base by the fastener tolower the base and to bring the bottom surface of the base into firmcontact with the installation surface, and during relocation, thevertical force applied to the base by the fastener is reduced, and theelastic member lifts the base from the installation surface using theelastic restoring force.
 5. A relocating mechanism of an industrialmachine, comprising: a bracket attachable to a through hole using asecond fastener while a first fastener is removed from the through hole,the industrial machine including a base including the through holevertically passing through the base and the base being installed onto aninstallation surface using the first fastener through the through hole;and a friction reducing member attached to the bracket, wherein thefriction reducing member is lowered below a bottom surface of the baseby a vertical force applied between the base and the bracket by thesecond fastener using the through hole during relocation of theindustrial machine.
 6. The relocating mechanism of the industrialmachine according to claim 5, wherein the second fastener is a bolt, andan internal thread is cut in the through hole to enable the secondfastener to be tightened into the through hole.